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Journal of Robotics and Control (JRC)
Published by Universitas Muhammadiyah Yogyakarta
ISSN : 27155056     EISSN : 27155072     DOI : https://doi.org/10.18196/jrc
Core Subject : Science, Engineering,
Aerospace Engineering Computer Science & IT Control & Systems Engineering Electrical & Electronics Engineering Mechanical Engineering
Journal of Robotics and Control (JRC) is an international open-access journal published by Universitas Muhammadiyah Yogyakarta. The journal invites students, researchers, and engineers to contribute to the development of theoretical and practice-oriented theories of Robotics and Control. Its scope includes (but not limited) to the following: Manipulator Robot, Mobile Robot, Flying Robot, Autonomous Robot, Automation Control, Programmable Logic Controller (PLC), SCADA, DCS, Wonderware, Industrial Robot, Robot Controller, Classical Control, Modern Control, Feedback Control, PID Controller, Fuzzy Logic Controller, State Feedback Controller, Neural Network Control, Linear Control, Optimal Control, Nonlinear Control, Robust Control, Adaptive Control, Geometry Control, Visual Control, Tracking Control, Artificial Intelligence, Power Electronic Control System, Grid Control, DC-DC Converter Control, Embedded Intelligence, Network Control System, Automatic Control and etc.
Arjuna Subject : Teknik (semua kategori) - Teknik Kontrol dan Sistem
Articles 37 Documents
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Search results for , issue "Vol 2, No 5 (2021): September" : 37 Documents clear
Human Activity Recognition using Machine Learning Approach Haroon P S, Abdul Lateef; D. R, Premachand
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25113

Abstract

The growing development in the sensory implementation has facilitated that the human activity can be used either as a tool for remote control of the device or as a tool for sophisticated human behaviour analysis. With the aid of the skeleton of the human action input image, the proposed system implements a basic but novel process that can only recognize the significant joints. The proposed system contributes a cost-effective human activity recognition system along with efficient performance in recognizing the significant joints. A template for an activity recognition system is also provided in which the reliability of the process of recognition and system quality is preserved with a good balance. The research presents a condensed method of extraction of features from spatial and temporal features of event feeds that are further subject to the mechanism of machine learning to improve the performance of recognition. The significance of the proposed study is reflected in the results, which when trained using KNN, show higher accuracy performance. The proposed system demonstrated 10-15% of memory usage over 532 MB of digitized real-time event information with 0.5341 seconds of processing time consumption. Therefore on a practical basis, the supportability of the proposed system is higher. The outcomes are the same for both real-time object flexibility captures and static frames as well.
Real Time DC Motor Position Control Using PID Controller in LabVIEW Khalifa, Mustafa; Amhedb, AL Hussein; Al Sharqawi, Mohammed
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25104

Abstract

Direct current (DC) motors are the most used motors in control engineering applications due to their simplicity of construction, easy to control, and excellent performance. These motors should be well controlled to perform the required task. This research focuses on DC motor functional application in terms of a position control system using LabVIEW. This control system is a closed-loop real-time control system whereas incremental encoder 298 is coupled to the motor shaft to provide the feedback position signal to a controller; Proportional Integral Derivative (PID) The PID controls the position of the DC motor at the desired position with a minimum error. The PID controller was implemented in LabVIEW software which sends the control signal to the real-time DC motor through the Arduino board. In addition, LabVIEW software was developed to show the output response of motor position versus time to easily observe the performance of the system. The PID controller gains were obtained based on the trial and error method. The system under these controller parameters has been tested at different positions of tracking signal and for disturbance rejection. Finally, the results showed that the designed controller had good performance characteristics where the desired position of the motor was maintained.
Implementation Kinematics Modeling and Odometry of Four Omni Wheel Mobile Robot on The Trajectory Planning and Motion Control Based Microcontroller Dhiya Uddin Rijalusalam; Iswanto Iswanto
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25121

Abstract

The control of kinematic modeling in a four wheel omni-directional robot (FWOR) is very difficult. Because you have to adjust the speed of the four DC motors. The speed of DC motors is controlled so that the FWOR robot can be controlled. This paper will explain the application of kinematic modeling of four wheel omni directional robots as track tracking controllers and microcontroller based movement control. Kinematic is the study of robot motion based on geometric structure analysis of a stationary / moving reference coordinate frame system without considering the force, torque or certain moments that cause movement. By applying kinematic modeling and calculation of the odometric system as feedback, the control of the robot trajectory movement can be controlled with precision in accordance with the path planning that has been made. The robot track control technique is embedded in a 32-bit ARM microcontroller. The path planning system and observing robot movement are carried out using a friendly graphic interface using Processing to facilitate the robot monitoring process. The results of the experiments and tests carried out, the system is able to control the rate of movement of the robot with great precision in accordance with the path planning made.
Car Parking Distance Controller Using Ultrasonic Sensors Based On Arduino Uno Jenli Susilo; Anita Febriani; Uci Rahmalisa; Yuda Irawan
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25106

Abstract

The design of a car parking sensor is done because there are some problems such as the absence of parking attendants from 18:00 to 06:00 and the lack of parking attendants so the researchers took the title of arduino uno-based car parking distance controller by using ultrasonic sensors in this study using 3 main components, namely Arduino UNO, Arduino MP3 Shield and Ultrasonic HC-SR04. Arduino Shield MP3 is a module that is used to play sound. MP3 which can give voice commands that have been programmed before using Arduino IDE and combined with Ultrasonic HC-SR04 components in the calculation of the distance to the object. The distance (cm) obtained as input is then processed and then combined with the Arduino Shield MP3, then at a predetermined distance will output a predetermined voice command. Then the method used is the prototype method which starts from designing, writing the system, implementing it with the aim of making a prototype of a car parking sensor and testing it with a prototype. Conclusion testing the car sensor sensor car makes it easy for car drivers to park the car.
Backstepping Control for a Tandem Rotor UAV Robot with Two 2-DOF Tiltable Coaxial Rotors Xiongshi Xu; Keigo Watanabe; Isaku Nagai
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25116

Abstract

The study of a fully actuated multi-rotor UAV robot is very important in the field of infrastructure inspection because it needs a dexterous motion, such as hovering in a special fixed attitude, etc. This paper presents a backstepping control method for a simplified fully actuated model of a tandem-rotor UAV robot with two 2-DOF tiltable coaxial rotors. A MIMO vectorial backstepping approach is adopted here because the input distribution matrix is a square and nonsingular matrix. The two-stage control method based on the Lyapunov second method is presented to stabilize the position and attitude of the whole system. The static control allocation problem is also solved by using a Moore-Penrose pseudo-inverse. Finally, two simulations are demonstrated to verify the performance of the proposed control method, where one is a stabilizing problem in which all the desired position and attitude are to be constant, whereas the other is a trajectory tracking problem in which the desired positions are time-varying while the desired attitudes are to be constant.
Temperature Monitoring System for Egg Incubators Using Raspberry Pi3 Based on Internet of Things (IoT) Siti Purwanti; Anita Febriani; Mardeni Mardeni; Yuda Irawan
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25105

Abstract

The incubator is made as a substitute for hatching naturally at the same time. The success of the hatch machine is largely determined by the temperature stability in the incubator. In the use of small-scale hatcheries for native chicken hatching, they are still faced with the problem of low hatchability due to one of the obstacles, namely the power outage during the hatching process. To improve the monitoring performance of egg incubators, the writer wishes to conduct research "Monitoring to Control and Monitor Temperature in Egg Incubators" using a webcam camera to monitor temperature conditions and hatch eggs. The working system is the DHT11 sensor will detect the temperature, the webcam camera in real time will monitor the state of the eggs then the raspberry pi3 will automatically control the temperature and electrical energy on the incubator, the smartphone monitors and can also control the temperature with the state of the eggs in realtime, 12V battery as a replacement energy when the PLN goes out. From the results of the tests carried out, the authors can draw conclusions, namely: The webcam camera can display the condition of the eggs in the incubator room. Android smartphones can receive information with a webcam camera during the hatching process. The data logger can display recapitulated temperature and humidity data.
Assessment of Collision Avoidance Strategies for an Underwater Transportation System Faheem Ur Rehman; Enrico Anderlini; Giles Thomas
Journal of Robotics and Control (JRC) Vol 2, No 5 (2021): September
Publisher : Universitas Muhammadiyah Yogyakarta

Show Abstract | Download Original | Original Source | Check in Google Scholar | DOI: 10.18196/jrc.25112

Abstract

Transportation using multiple autonomous vehicles with detection avoidance capability is useful for military applications. It is important for such systems to avoid collisions with underwater obstacles in an effective way, while keeping track of the target location. In this paper, sensor-based and path-planning methods of external collision avoidance were investigated for an underwater transportation system. In particular, sensor-based wall-following and hard-switching collision avoidance strategies and an offline RRT* path-planning method was implemented on the simulation model of the transportation system of four Hovering Autonomous Underwater Vehicles (HAUVs). Time-domain motion simulations were performed with each method and their ability to avoid obstacles was compared. The hard-switching method resulted in high yaw moments which caused the vehicle to travel towards the goal by a longer distance. Conversely, in the wall-following method, the yaw moment was kept to zero. Moreover, the wall-following method was found to be better than the hard-switching method in terms of time and power efficiency. The comparison between the offline RRT* path-planning and wall-following methods showed that the fuel efficiency of the former is higher whilst its time efficiency is poorer. The major drawback of RRT* is that it can only avoid the previously known obstacles. In future, offline RRT* and wall following can be blended for a better solution. The outcome of this paper provides guidance for the selection of the most appropriate method for collision avoidance for an underwater transportation system.

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